[JTC] Fix typos, implicit cast, const member functions (#748)

(cherry picked from commit 6b73cf5) # Conflicts: # joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp # joint_trajectory_controller/src/joint_trajectory_controller.cpp # joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
ros-controls · Aug 16, 2023 · b17ce5a · b17ce5a
1 parent 65904ec
commit b17ce5a
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Showing 5 changed files with 39 additions and 15 deletions.
diff --git a/...trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp b/...trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
@@ -252,6 +252,12 @@ class JointTrajectoryController : public controller_interface::ControllerInterfa
   JOINT_TRAJECTORY_CONTROLLER_PUBLIC
   bool reset();
 
+<<<<<<< HEAD
+=======
+  JOINT_TRAJECTORY_CONTROLLER_PUBLIC
+  bool has_active_trajectory() const;
+
+>>>>>>> 6b73cf5 ([JTC] Fix typos, implicit cast, const member functions (#748))
   using JointTrajectoryPoint = trajectory_msgs::msg::JointTrajectoryPoint;
   JOINT_TRAJECTORY_CONTROLLER_PUBLIC
   void publish_state(

diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -1562,6 +1562,14 @@ void JointTrajectoryController::resize_joint_trajectory_point_command(
   }
 }
 
+<<<<<<< HEAD
+=======
+bool JointTrajectoryController::has_active_trajectory() const
+{
+  return traj_external_point_ptr_ != nullptr && traj_external_point_ptr_->has_trajectory_msg();
+}
+
+>>>>>>> 6b73cf5 ([JTC] Fix typos, implicit cast, const member functions (#748))
 }  // namespace joint_trajectory_controller
 
 #include "pluginlib/class_list_macros.hpp"

diff --git a/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml b/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml
@@ -89,7 +89,7 @@ joint_trajectory_controller:
       i: {
         type: double,
         default_value: 0.0,
-        description: "Intigral gain for PID"
+        description: "Integral gain for PID"
       }
       d: {
         type: double,
@@ -99,7 +99,7 @@ joint_trajectory_controller:
       i_clamp: {
         type: double,
         default_value: 0.0,
-        description: "Integrale clamp. Symmetrical in both positive and negative direction."
+        description: "Integral clamp. Symmetrical in both positive and negative direction."
       }
       ff_velocity_scale: {
         type: double,

diff --git a/joint_trajectory_controller/test/test_trajectory_controller.cpp b/joint_trajectory_controller/test/test_trajectory_controller.cpp
@@ -1598,9 +1598,9 @@ TEST_P(TrajectoryControllerTestParameterized, test_hw_states_has_offset_later_co
   // set command values to NaN
   for (size_t i = 0; i < 3; ++i)
   {
-    joint_pos_[i] = 3.1 + i;
-    joint_vel_[i] = 0.25 + i;
-    joint_acc_[i] = 0.02 + i / 10.0;
+    joint_pos_[i] = 3.1 + static_cast<double>(i);
+    joint_vel_[i] = 0.25 + static_cast<double>(i);
+    joint_acc_[i] = 0.02 + static_cast<double>(i) / 10.0;
   }
   SetUpAndActivateTrajectoryController(executor, true, {is_open_loop_parameters}, true);
 

diff --git a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
@@ -101,28 +101,38 @@ class TestableJointTrajectoryController
 
   void trigger_declare_parameters() { param_listener_->declare_params(); }
 
-  trajectory_msgs::msg::JointTrajectoryPoint get_current_state_when_offset()
+  trajectory_msgs::msg::JointTrajectoryPoint get_current_state_when_offset() const
   {
     return last_commanded_state_;
   }
-  bool has_position_state_interface() { return has_position_state_interface_; }
+  bool has_position_state_interface() const { return has_position_state_interface_; }
 
-  bool has_velocity_state_interface() { return has_velocity_state_interface_; }
+  bool has_velocity_state_interface() const { return has_velocity_state_interface_; }
 
-  bool has_acceleration_state_interface() { return has_acceleration_state_interface_; }
+  bool has_acceleration_state_interface() const { return has_acceleration_state_interface_; }
 
-  bool has_position_command_interface() { return has_position_command_interface_; }
+  bool has_position_command_interface() const { return has_position_command_interface_; }
 
-  bool has_velocity_command_interface() { return has_velocity_command_interface_; }
+  bool has_velocity_command_interface() const { return has_velocity_command_interface_; }
 
-  bool has_acceleration_command_interface() { return has_acceleration_command_interface_; }
+  bool has_acceleration_command_interface() const { return has_acceleration_command_interface_; }
 
-  bool has_effort_command_interface() { return has_effort_command_interface_; }
+  bool has_effort_command_interface() const { return has_effort_command_interface_; }
 
-  bool use_closed_loop_pid_adapter() { return use_closed_loop_pid_adapter_; }
+  bool use_closed_loop_pid_adapter() const { return use_closed_loop_pid_adapter_; }
 
-  bool is_open_loop() { return params_.open_loop_control; }
+  bool is_open_loop() const { return params_.open_loop_control; }
 
+<<<<<<< HEAD
+=======
+  bool has_active_traj() const { return has_active_trajectory(); }
+
+  bool has_trivial_traj() const
+  {
+    return has_active_trajectory() && traj_external_point_ptr_->has_nontrivial_msg() == false;
+  }
+
+>>>>>>> 6b73cf5 ([JTC] Fix typos, implicit cast, const member functions (#748))
   rclcpp::WaitSet joint_cmd_sub_wait_set_;
 };